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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">binocular_disparity_ms</span><span data-if="c" style="display:none;">binocular_disparity_ms</span><span data-if="cpp" style="display:none;">BinocularDisparityMs</span><span data-if="dotnet" style="display:none;">BinocularDisparityMs</span><span data-if="python" style="display:none;">binocular_disparity_ms</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">binocular_disparity_ms</span><span data-if="c" style="display:none;">binocular_disparity_ms</span><span data-if="cpp" style="display:none;">BinocularDisparityMs</span><span data-if="dotnet" style="display:none;">BinocularDisparityMs</span><span data-if="python" style="display:none;">binocular_disparity_ms</span></code> — Compute the disparities of a rectified stereo image pair using
multi-scanline optimization.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>binocular_disparity_ms</b>(<a href="#ImageRect1"><i>ImageRect1</i></a>, <a href="#ImageRect2"><i>ImageRect2</i></a> : <a href="#Disparity"><i>Disparity</i></a>, <a href="#Score"><i>Score</i></a> : <a href="#MinDisparity"><i>MinDisparity</i></a>, <a href="#MaxDisparity"><i>MaxDisparity</i></a>, <a href="#SurfaceSmoothing"><i>SurfaceSmoothing</i></a>, <a href="#EdgeSmoothing"><i>EdgeSmoothing</i></a>, <a href="#GenParamName"><i>GenParamName</i></a>, <a href="#GenParamValue"><i>GenParamValue</i></a> : )</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>binocular_disparity_ms</b>(const Hobject <a href="#ImageRect1"><i>ImageRect1</i></a>, const Hobject <a href="#ImageRect2"><i>ImageRect2</i></a>, Hobject* <a href="#Disparity"><i>Disparity</i></a>, Hobject* <a href="#Score"><i>Score</i></a>, const Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, const Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, const Hlong <a href="#SurfaceSmoothing"><i>SurfaceSmoothing</i></a>, const Hlong <a href="#EdgeSmoothing"><i>EdgeSmoothing</i></a>, const char* <a href="#GenParamName"><i>GenParamName</i></a>, const char* <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code>Herror <b>T_binocular_disparity_ms</b>(const Hobject <a href="#ImageRect1"><i>ImageRect1</i></a>, const Hobject <a href="#ImageRect2"><i>ImageRect2</i></a>, Hobject* <a href="#Disparity"><i>Disparity</i></a>, Hobject* <a href="#Score"><i>Score</i></a>, const Htuple <a href="#MinDisparity"><i>MinDisparity</i></a>, const Htuple <a href="#MaxDisparity"><i>MaxDisparity</i></a>, const Htuple <a href="#SurfaceSmoothing"><i>SurfaceSmoothing</i></a>, const Htuple <a href="#EdgeSmoothing"><i>EdgeSmoothing</i></a>, const Htuple <a href="#GenParamName"><i>GenParamName</i></a>, const Htuple <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>BinocularDisparityMs</b>(const HObject&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HObject&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HObject* <a href="#Disparity"><i>Disparity</i></a>, HObject* <a href="#Score"><i>Score</i></a>, const HTuple&amp; <a href="#MinDisparity"><i>MinDisparity</i></a>, const HTuple&amp; <a href="#MaxDisparity"><i>MaxDisparity</i></a>, const HTuple&amp; <a href="#SurfaceSmoothing"><i>SurfaceSmoothing</i></a>, const HTuple&amp; <a href="#EdgeSmoothing"><i>EdgeSmoothing</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDisparityMs</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#SurfaceSmoothing"><i>SurfaceSmoothing</i></a>, Hlong <a href="#EdgeSmoothing"><i>EdgeSmoothing</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDisparityMs</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#SurfaceSmoothing"><i>SurfaceSmoothing</i></a>, Hlong <a href="#EdgeSmoothing"><i>EdgeSmoothing</i></a>, const HString&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HString&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDisparityMs</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#SurfaceSmoothing"><i>SurfaceSmoothing</i></a>, Hlong <a href="#EdgeSmoothing"><i>EdgeSmoothing</i></a>, const char* <a href="#GenParamName"><i>GenParamName</i></a>, const char* <a href="#GenParamValue"><i>GenParamValue</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDisparityMs</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#SurfaceSmoothing"><i>SurfaceSmoothing</i></a>, Hlong <a href="#EdgeSmoothing"><i>EdgeSmoothing</i></a>, const wchar_t* <a href="#GenParamName"><i>GenParamName</i></a>, const wchar_t* <a href="#GenParamValue"><i>GenParamValue</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
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<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>BinocularDisparityMs</b>(<a href="HObject.html">HObject</a> <a href="#ImageRect1"><i>imageRect1</i></a>, <a href="HObject.html">HObject</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HObject.html">HObject</a> <a href="#Disparity"><i>disparity</i></a>, out <a href="HObject.html">HObject</a> <a href="#Score"><i>score</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MinDisparity"><i>minDisparity</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MaxDisparity"><i>maxDisparity</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SurfaceSmoothing"><i>surfaceSmoothing</i></a>, <a href="HTuple.html">HTuple</a> <a href="#EdgeSmoothing"><i>edgeSmoothing</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>.<b>BinocularDisparityMs</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#SurfaceSmoothing"><i>surfaceSmoothing</i></a>, int <a href="#EdgeSmoothing"><i>edgeSmoothing</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>.<b>BinocularDisparityMs</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#SurfaceSmoothing"><i>surfaceSmoothing</i></a>, int <a href="#EdgeSmoothing"><i>edgeSmoothing</i></a>, string <a href="#GenParamName"><i>genParamName</i></a>, string <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>binocular_disparity_ms</b>(<a href="#ImageRect1"><i>image_rect_1</i></a>: HObject, <a href="#ImageRect2"><i>image_rect_2</i></a>: HObject, <a href="#MinDisparity"><i>min_disparity</i></a>: int, <a href="#MaxDisparity"><i>max_disparity</i></a>: int, <a href="#SurfaceSmoothing"><i>surface_smoothing</i></a>: int, <a href="#EdgeSmoothing"><i>edge_smoothing</i></a>: int, <a href="#GenParamName"><i>gen_param_name</i></a>: MaybeSequence[str], <a href="#GenParamValue"><i>gen_param_value</i></a>: MaybeSequence[str]) -&gt; Tuple[HObject, HObject]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p><code><span data-if="hdevelop" style="display:inline">binocular_disparity_ms</span><span data-if="c" style="display:none">binocular_disparity_ms</span><span data-if="cpp" style="display:none">BinocularDisparityMs</span><span data-if="com" style="display:none">BinocularDisparityMs</span><span data-if="dotnet" style="display:none">BinocularDisparityMs</span><span data-if="python" style="display:none">binocular_disparity_ms</span></code> calculates the disparity between two
rectified stereo images <a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> and <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a>
using multi-scanline optimization. The resulting disparity image is
returned in <a href="#Disparity"><i><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></i></a>.
In contrast to <a href="binocular_distance_ms.html"><code><span data-if="hdevelop" style="display:inline">binocular_distance_ms</span><span data-if="c" style="display:none">binocular_distance_ms</span><span data-if="cpp" style="display:none">BinocularDistanceMs</span><span data-if="com" style="display:none">BinocularDistanceMs</span><span data-if="dotnet" style="display:none">BinocularDistanceMs</span><span data-if="python" style="display:none">binocular_distance_ms</span></code></a>, the results are
not transformed into distance values.
</p>
<p>For this task, the three operators <a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a>,
<a href="binocular_disparity_mg.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity_mg</span><span data-if="c" style="display:none">binocular_disparity_mg</span><span data-if="cpp" style="display:none">BinocularDisparityMg</span><span data-if="com" style="display:none">BinocularDisparityMg</span><span data-if="dotnet" style="display:none">BinocularDisparityMg</span><span data-if="python" style="display:none">binocular_disparity_mg</span></code></a>, and <code><span data-if="hdevelop" style="display:inline">binocular_disparity_ms</span><span data-if="c" style="display:none">binocular_disparity_ms</span><span data-if="cpp" style="display:none">BinocularDisparityMs</span><span data-if="com" style="display:none">BinocularDisparityMs</span><span data-if="dotnet" style="display:none">BinocularDisparityMs</span><span data-if="python" style="display:none">binocular_disparity_ms</span></code>
can be used. <a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a> returns robust results
in regions of sufficient texture but fails where is none.
<a href="binocular_disparity_mg.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity_mg</span><span data-if="c" style="display:none">binocular_disparity_mg</span><span data-if="cpp" style="display:none">BinocularDisparityMg</span><span data-if="com" style="display:none">BinocularDisparityMg</span><span data-if="dotnet" style="display:none">BinocularDisparityMg</span><span data-if="python" style="display:none">binocular_disparity_mg</span></code></a> interpolates low-texture regions
but blurs discontinuities. <code><span data-if="hdevelop" style="display:inline">binocular_disparity_ms</span><span data-if="c" style="display:none">binocular_disparity_ms</span><span data-if="cpp" style="display:none">BinocularDisparityMs</span><span data-if="com" style="display:none">BinocularDisparityMs</span><span data-if="dotnet" style="display:none">BinocularDisparityMs</span><span data-if="python" style="display:none">binocular_disparity_ms</span></code> preserves
discontinuities and interpolates partially.
</p>
<p><code><span data-if="hdevelop" style="display:inline">binocular_disparity_ms</span><span data-if="c" style="display:none">binocular_disparity_ms</span><span data-if="cpp" style="display:none">BinocularDisparityMs</span><span data-if="com" style="display:none">BinocularDisparityMs</span><span data-if="dotnet" style="display:none">BinocularDisparityMs</span><span data-if="python" style="display:none">binocular_disparity_ms</span></code> requires a reference image
<a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> and a search image <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> which both
must be rectified, i.e., corresponding pixels must have the same
row coordinate. If this assumption is violated, the images
can be rectified by using 该算子s <a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>,
<a href="gen_binocular_rectification_map.html"><code><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></code></a>, and <a href="map_image.html"><code><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></code></a>.
</p>
<p><a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> and <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> can have different widths,
but must have the same height. Given a pixel in <a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a>,
the homologous pixel in <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> is selected by searching
along the corresponding row in <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a>
and matching both pixels based on a similarity measure.
The disparity is the number of pixels
by which each pixel in <a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> needs to be moved
to reach the homologous pixel in <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a>.
The search space is confined by the minimum and maximum disparity
values <a href="#MinDisparity"><i><code><span data-if="hdevelop" style="display:inline">MinDisparity</span><span data-if="c" style="display:none">MinDisparity</span><span data-if="cpp" style="display:none">MinDisparity</span><span data-if="com" style="display:none">MinDisparity</span><span data-if="dotnet" style="display:none">minDisparity</span><span data-if="python" style="display:none">min_disparity</span></code></i></a> and <a href="#MaxDisparity"><i><code><span data-if="hdevelop" style="display:inline">MaxDisparity</span><span data-if="c" style="display:none">MaxDisparity</span><span data-if="cpp" style="display:none">MaxDisparity</span><span data-if="com" style="display:none">MaxDisparity</span><span data-if="dotnet" style="display:none">maxDisparity</span><span data-if="python" style="display:none">max_disparity</span></code></i></a>. If the
minimum and maximum disparity values are set to an empty tuple, they
are automatically set to the maximal possible range for the
given images <a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> and <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a>.
</p>
<p>Similar to <a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a>, a coarse-to-fine scheme
may be used to improve the runtime. The coarse-to-fine scheme is
used by setting <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'method'</span><span data-if="c" style="display:none">"method"</span><span data-if="cpp" style="display:none">"method"</span><span data-if="com" style="display:none">"method"</span><span data-if="dotnet" style="display:none">"method"</span><span data-if="python" style="display:none">"method"</span></i> and
<a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'fast'</span><span data-if="c" style="display:none">"fast"</span><span data-if="cpp" style="display:none">"fast"</span><span data-if="com" style="display:none">"fast"</span><span data-if="dotnet" style="display:none">"fast"</span><span data-if="python" style="display:none">"fast"</span></i>. The default method is
<i><span data-if="hdevelop" style="display:inline">'accurate'</span><span data-if="c" style="display:none">"accurate"</span><span data-if="cpp" style="display:none">"accurate"</span><span data-if="com" style="display:none">"accurate"</span><span data-if="dotnet" style="display:none">"accurate"</span><span data-if="python" style="display:none">"accurate"</span></i>. The coarse-to-fine method requires
significantly less memory and is significantly faster
than the <i><span data-if="hdevelop" style="display:inline">'accurate'</span><span data-if="c" style="display:none">"accurate"</span><span data-if="cpp" style="display:none">"accurate"</span><span data-if="com" style="display:none">"accurate"</span><span data-if="dotnet" style="display:none">"accurate"</span><span data-if="python" style="display:none">"accurate"</span></i> method, especially for large
images or a large range of <a href="#MinDisparity"><i><code><span data-if="hdevelop" style="display:inline">MinDisparity</span><span data-if="c" style="display:none">MinDisparity</span><span data-if="cpp" style="display:none">MinDisparity</span><span data-if="com" style="display:none">MinDisparity</span><span data-if="dotnet" style="display:none">minDisparity</span><span data-if="python" style="display:none">min_disparity</span></code></i></a> and
<a href="#MaxDisparity"><i><code><span data-if="hdevelop" style="display:inline">MaxDisparity</span><span data-if="c" style="display:none">MaxDisparity</span><span data-if="cpp" style="display:none">MaxDisparity</span><span data-if="com" style="display:none">MaxDisparity</span><span data-if="dotnet" style="display:none">maxDisparity</span><span data-if="python" style="display:none">max_disparity</span></code></i></a>.
The coarse-to-fine scheme has the further advantage that it
automatically estimates the range of <a href="#MinDisparity"><i><code><span data-if="hdevelop" style="display:inline">MinDisparity</span><span data-if="c" style="display:none">MinDisparity</span><span data-if="cpp" style="display:none">MinDisparity</span><span data-if="com" style="display:none">MinDisparity</span><span data-if="dotnet" style="display:none">minDisparity</span><span data-if="python" style="display:none">min_disparity</span></code></i></a> and
<a href="#MaxDisparity"><i><code><span data-if="hdevelop" style="display:inline">MaxDisparity</span><span data-if="c" style="display:none">MaxDisparity</span><span data-if="cpp" style="display:none">MaxDisparity</span><span data-if="com" style="display:none">MaxDisparity</span><span data-if="dotnet" style="display:none">maxDisparity</span><span data-if="python" style="display:none">max_disparity</span></code></i></a> while traversing through the pyramid. As a
consequence, neither <a href="#MinDisparity"><i><code><span data-if="hdevelop" style="display:inline">MinDisparity</span><span data-if="c" style="display:none">MinDisparity</span><span data-if="cpp" style="display:none">MinDisparity</span><span data-if="com" style="display:none">MinDisparity</span><span data-if="dotnet" style="display:none">minDisparity</span><span data-if="python" style="display:none">min_disparity</span></code></i></a>
nor <a href="#MaxDisparity"><i><code><span data-if="hdevelop" style="display:inline">MaxDisparity</span><span data-if="c" style="display:none">MaxDisparity</span><span data-if="cpp" style="display:none">MaxDisparity</span><span data-if="com" style="display:none">MaxDisparity</span><span data-if="dotnet" style="display:none">maxDisparity</span><span data-if="python" style="display:none">max_disparity</span></code></i></a> need to be set. However, the generated
disparity images are less accurate for the <i><span data-if="hdevelop" style="display:inline">'fast'</span><span data-if="c" style="display:none">"fast"</span><span data-if="cpp" style="display:none">"fast"</span><span data-if="com" style="display:none">"fast"</span><span data-if="dotnet" style="display:none">"fast"</span><span data-if="python" style="display:none">"fast"</span></i> method
than for the default <i><span data-if="hdevelop" style="display:inline">'accurate'</span><span data-if="c" style="display:none">"accurate"</span><span data-if="cpp" style="display:none">"accurate"</span><span data-if="com" style="display:none">"accurate"</span><span data-if="dotnet" style="display:none">"accurate"</span><span data-if="python" style="display:none">"accurate"</span></i> approach. Especially
at sharp disparity jumps the <i><span data-if="hdevelop" style="display:inline">'fast'</span><span data-if="c" style="display:none">"fast"</span><span data-if="cpp" style="display:none">"fast"</span><span data-if="com" style="display:none">"fast"</span><span data-if="dotnet" style="display:none">"fast"</span><span data-if="python" style="display:none">"fast"</span></i> method preserves
discontinuities less accurately. The runtime can be even further
reduced, by setting the <i><span data-if="hdevelop" style="display:inline">'method'</span><span data-if="c" style="display:none">"method"</span><span data-if="cpp" style="display:none">"method"</span><span data-if="com" style="display:none">"method"</span><span data-if="dotnet" style="display:none">"method"</span><span data-if="python" style="display:none">"method"</span></i> to <i><span data-if="hdevelop" style="display:inline">'very_fast'</span><span data-if="c" style="display:none">"very_fast"</span><span data-if="cpp" style="display:none">"very_fast"</span><span data-if="com" style="display:none">"very_fast"</span><span data-if="dotnet" style="display:none">"very_fast"</span><span data-if="python" style="display:none">"very_fast"</span></i>.
However, this approach makes numerous assumptions that may lead
to a smoothing of the disparities at discontinuities. Per default,
the number of levels of the coarse-to-fine scheme is estimated
automatically. It is possible to set the number of levels
explicitly by setting <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a>
to <i><span data-if="hdevelop" style="display:inline">'num_levels'</span><span data-if="c" style="display:none">"num_levels"</span><span data-if="cpp" style="display:none">"num_levels"</span><span data-if="com" style="display:none">"num_levels"</span><span data-if="dotnet" style="display:none">"num_levels"</span><span data-if="python" style="display:none">"num_levels"</span></i> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> to the number
of levels.
</p>
<p>The similarity measure can be specified by setting <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a>
to <i><span data-if="hdevelop" style="display:inline">'similarity_measure'</span><span data-if="c" style="display:none">"similarity_measure"</span><span data-if="cpp" style="display:none">"similarity_measure"</span><span data-if="com" style="display:none">"similarity_measure"</span><span data-if="dotnet" style="display:none">"similarity_measure"</span><span data-if="python" style="display:none">"similarity_measure"</span></i> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a>
to the desired value. For both options
<i><span data-if="hdevelop" style="display:inline">'census_dense'</span><span data-if="c" style="display:none">"census_dense"</span><span data-if="cpp" style="display:none">"census_dense"</span><span data-if="com" style="display:none">"census_dense"</span><span data-if="dotnet" style="display:none">"census_dense"</span><span data-if="python" style="display:none">"census_dense"</span></i> (default) and <i><span data-if="hdevelop" style="display:inline">'census_sparse'</span><span data-if="c" style="display:none">"census_sparse"</span><span data-if="cpp" style="display:none">"census_sparse"</span><span data-if="com" style="display:none">"census_sparse"</span><span data-if="dotnet" style="display:none">"census_sparse"</span><span data-if="python" style="display:none">"census_sparse"</span></i>,
the similarity measure is based on the Census transform.
A Census transformed image contains for every pixel information
about the intensity topology within a support window around it.
<i><span data-if="hdevelop" style="display:inline">'census_dense'</span><span data-if="c" style="display:none">"census_dense"</span><span data-if="cpp" style="display:none">"census_dense"</span><span data-if="com" style="display:none">"census_dense"</span><span data-if="dotnet" style="display:none">"census_dense"</span><span data-if="python" style="display:none">"census_dense"</span></i> uses a dense 9 x 7 pixels window.
<i><span data-if="hdevelop" style="display:inline">'census_sparse'</span><span data-if="c" style="display:none">"census_sparse"</span><span data-if="cpp" style="display:none">"census_sparse"</span><span data-if="com" style="display:none">"census_sparse"</span><span data-if="dotnet" style="display:none">"census_sparse"</span><span data-if="python" style="display:none">"census_sparse"</span></i> uses a sparse 15 x 15 pixels window
where only a subset of the pixels is evaluated.
While <i><span data-if="hdevelop" style="display:inline">'census_dense'</span><span data-if="c" style="display:none">"census_dense"</span><span data-if="cpp" style="display:none">"census_dense"</span><span data-if="com" style="display:none">"census_dense"</span><span data-if="dotnet" style="display:none">"census_dense"</span><span data-if="python" style="display:none">"census_dense"</span></i> is more suitable for fine structures,
<i><span data-if="hdevelop" style="display:inline">'census_sparse'</span><span data-if="c" style="display:none">"census_sparse"</span><span data-if="cpp" style="display:none">"census_sparse"</span><span data-if="com" style="display:none">"census_sparse"</span><span data-if="dotnet" style="display:none">"census_sparse"</span><span data-if="python" style="display:none">"census_sparse"</span></i> is more robust on low texture areas.
</p>
<p>To calculate the disparities from the similarity measure,
the intermediate results are optimized by a multi-scanline method.
The optimization increases the robustness in low-texture areas
without blurring discontinuities in the disparity image.
The optimization is controlled by the parameters
<a href="#SurfaceSmoothing"><i><code><span data-if="hdevelop" style="display:inline">SurfaceSmoothing</span><span data-if="c" style="display:none">SurfaceSmoothing</span><span data-if="cpp" style="display:none">SurfaceSmoothing</span><span data-if="com" style="display:none">SurfaceSmoothing</span><span data-if="dotnet" style="display:none">surfaceSmoothing</span><span data-if="python" style="display:none">surface_smoothing</span></code></i></a> and <a href="#EdgeSmoothing"><i><code><span data-if="hdevelop" style="display:inline">EdgeSmoothing</span><span data-if="c" style="display:none">EdgeSmoothing</span><span data-if="cpp" style="display:none">EdgeSmoothing</span><span data-if="com" style="display:none">EdgeSmoothing</span><span data-if="dotnet" style="display:none">edgeSmoothing</span><span data-if="python" style="display:none">edge_smoothing</span></code></i></a>.
<a href="#SurfaceSmoothing"><i><code><span data-if="hdevelop" style="display:inline">SurfaceSmoothing</span><span data-if="c" style="display:none">SurfaceSmoothing</span><span data-if="cpp" style="display:none">SurfaceSmoothing</span><span data-if="com" style="display:none">SurfaceSmoothing</span><span data-if="dotnet" style="display:none">surfaceSmoothing</span><span data-if="python" style="display:none">surface_smoothing</span></code></i></a> controls the smoothness within surfaces.
High values suppress disparity differences of one pixel.
<a href="#EdgeSmoothing"><i><code><span data-if="hdevelop" style="display:inline">EdgeSmoothing</span><span data-if="c" style="display:none">EdgeSmoothing</span><span data-if="cpp" style="display:none">EdgeSmoothing</span><span data-if="com" style="display:none">EdgeSmoothing</span><span data-if="dotnet" style="display:none">edgeSmoothing</span><span data-if="python" style="display:none">edge_smoothing</span></code></i></a> controls the occurrence and the shape of edges.
Low values allow many edges, high values lead to fewer and rounder edges.
For both parameters, reasonable values usually range between 0 and 100.
If both parameters are set to zero, no optimization is performed.
</p>
<p>The resulting disparity is returned in the single-channel image
<a href="#Disparity"><i><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></i></a>. A quality measure for each disparity value
is returned in <a href="#Score"><i><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></i></a>, containing the best (lowest) result
of the optimized similarity measure of a reference pixel.
</p>
<p>Furthermore, there are two optional post-processing steps. A consistency
check is applied if <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> is set to
<i><span data-if="hdevelop" style="display:inline">'consistency_check'</span><span data-if="c" style="display:none">"consistency_check"</span><span data-if="cpp" style="display:none">"consistency_check"</span><span data-if="com" style="display:none">"consistency_check"</span><span data-if="dotnet" style="display:none">"consistency_check"</span><span data-if="python" style="display:none">"consistency_check"</span></i> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> is set to
<i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i> (default).
This increases the robustness of the returned matches since the
result relies on a concurrent direct and reverse match. It is switched off
by setting <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>.
</p>
<p>Sub-pixel refinement of disparities is performed by setting
<a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'sub_disparity'</span><span data-if="c" style="display:none">"sub_disparity"</span><span data-if="cpp" style="display:none">"sub_disparity"</span><span data-if="com" style="display:none">"sub_disparity"</span><span data-if="dotnet" style="display:none">"sub_disparity"</span><span data-if="python" style="display:none">"sub_disparity"</span></i> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a>
to <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i> (default). It is switched off by setting
<a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>.
</p>
<p>Finally, there are two optional parameters that control the coarse-to-fine
scheme. If <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> is set to <i><span data-if="hdevelop" style="display:inline">'num_levels'</span><span data-if="c" style="display:none">"num_levels"</span><span data-if="cpp" style="display:none">"num_levels"</span><span data-if="com" style="display:none">"num_levels"</span><span data-if="dotnet" style="display:none">"num_levels"</span><span data-if="python" style="display:none">"num_levels"</span></i>, the
value of <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> determines the number of pyramids that are
used. By setting <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'auto'</span><span data-if="c" style="display:none">"auto"</span><span data-if="cpp" style="display:none">"auto"</span><span data-if="com" style="display:none">"auto"</span><span data-if="dotnet" style="display:none">"auto"</span><span data-if="python" style="display:none">"auto"</span></i>, the number of
pyramids are automatically calculated. This is the default value of
<i><span data-if="hdevelop" style="display:inline">'num_levels'</span><span data-if="c" style="display:none">"num_levels"</span><span data-if="cpp" style="display:none">"num_levels"</span><span data-if="com" style="display:none">"num_levels"</span><span data-if="dotnet" style="display:none">"num_levels"</span><span data-if="python" style="display:none">"num_levels"</span></i> and should be adequate for most applications.
Furthermore, by setting <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'disparity_offset'</span><span data-if="c" style="display:none">"disparity_offset"</span><span data-if="cpp" style="display:none">"disparity_offset"</span><span data-if="com" style="display:none">"disparity_offset"</span><span data-if="dotnet" style="display:none">"disparity_offset"</span><span data-if="python" style="display:none">"disparity_offset"</span></i>,
the quality of the coarse-to-fine approach at discontinuities can be adapted.
The higher the value set in <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a>, the more runtime is
required. The default value is 3 and should be sufficient for most
applications.
</p>
<p>The runtime of 该算子 is approximately linear to the image width,
the image height, and the disparity range. Consequently, the disparity
range should be chosen as narrow as possible for large images. The
runtime of the coarse-to-fine scheme (which is used by setting
<a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'method'</span><span data-if="c" style="display:none">"method"</span><span data-if="cpp" style="display:none">"method"</span><span data-if="com" style="display:none">"method"</span><span data-if="dotnet" style="display:none">"method"</span><span data-if="python" style="display:none">"method"</span></i> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a>
to <i><span data-if="hdevelop" style="display:inline">'fast'</span><span data-if="c" style="display:none">"fast"</span><span data-if="cpp" style="display:none">"fast"</span><span data-if="com" style="display:none">"fast"</span><span data-if="dotnet" style="display:none">"fast"</span><span data-if="python" style="display:none">"fast"</span></i> or <i><span data-if="hdevelop" style="display:inline">'very_fast'</span><span data-if="c" style="display:none">"very_fast"</span><span data-if="cpp" style="display:none">"very_fast"</span><span data-if="com" style="display:none">"very_fast"</span><span data-if="dotnet" style="display:none">"very_fast"</span><span data-if="python" style="display:none">"very_fast"</span></i>) is approximately linear to
the image width and the image height. For small images and small
disparity ranges the runtime of the coarse-to-fine scheme may be
larger than that of the <i><span data-if="hdevelop" style="display:inline">'accurate'</span><span data-if="c" style="display:none">"accurate"</span><span data-if="cpp" style="display:none">"accurate"</span><span data-if="com" style="display:none">"accurate"</span><span data-if="dotnet" style="display:none">"accurate"</span><span data-if="python" style="display:none">"accurate"</span></i> scheme.
</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
    
      <li>支持OpenCL计算设备。</li>
    
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  
    <li>在元组级别自动并行化。</li>
    <li>Automatically parallelized on internal data level.</li>
  
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="ImageRect1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></b> (input_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte*)<i> *allowed for compute devices</i></span>
</div>
<p class="pardesc">Rectified image of camera 1.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="ImageRect2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></b> (input_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte*)<i> *allowed for compute devices</i></span>
</div>
<p class="pardesc">Rectified image of camera 2.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Disparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></b> (output_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (real)</span>
</div>
<p class="pardesc">Disparity map.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Score" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></b> (output_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (real)</span>
</div>
<p class="pardesc">Score of the calculated disparity.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="MinDisparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MinDisparity</span><span data-if="c" style="display:none">MinDisparity</span><span data-if="cpp" style="display:none">MinDisparity</span><span data-if="com" style="display:none">MinDisparity</span><span data-if="dotnet" style="display:none">minDisparity</span><span data-if="python" style="display:none">min_disparity</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Minimum of the expected disparities.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>-30</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>-32768
          ≤
        
    <span data-if="hdevelop" style="display:inline">MinDisparity</span>
    <span data-if="c" style="display:none">MinDisparity</span>
    <span data-if="cpp" style="display:none">MinDisparity</span>
    <span data-if="com" style="display:none">MinDisparity</span>
    <span data-if="dotnet" style="display:none">minDisparity</span>
    <span data-if="python" style="display:none">min_disparity</span>
    
          ≤
          32768</code></p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>MinDisparity &lt;= MaxDisparity</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MaxDisparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MaxDisparity</span><span data-if="c" style="display:none">MaxDisparity</span><span data-if="cpp" style="display:none">MaxDisparity</span><span data-if="com" style="display:none">MaxDisparity</span><span data-if="dotnet" style="display:none">maxDisparity</span><span data-if="python" style="display:none">max_disparity</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Maximum of the expected disparities.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>30</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>-32768
          ≤
        
    <span data-if="hdevelop" style="display:inline">MaxDisparity</span>
    <span data-if="c" style="display:none">MaxDisparity</span>
    <span data-if="cpp" style="display:none">MaxDisparity</span>
    <span data-if="com" style="display:none">MaxDisparity</span>
    <span data-if="dotnet" style="display:none">maxDisparity</span>
    <span data-if="python" style="display:none">max_disparity</span>
    
          ≤
          32768</code></p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>MinDisparity &lt;= MaxDisparity</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="SurfaceSmoothing" class="parname"><b><code><span data-if="hdevelop" style="display:inline">SurfaceSmoothing</span><span data-if="c" style="display:none">SurfaceSmoothing</span><span data-if="cpp" style="display:none">SurfaceSmoothing</span><span data-if="com" style="display:none">SurfaceSmoothing</span><span data-if="dotnet" style="display:none">surfaceSmoothing</span><span data-if="python" style="display:none">surface_smoothing</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Smoothing of surfaces.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>50</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>20, 50, 100</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>SurfaceSmoothing &gt;= 0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="EdgeSmoothing" class="parname"><b><code><span data-if="hdevelop" style="display:inline">EdgeSmoothing</span><span data-if="c" style="display:none">EdgeSmoothing</span><span data-if="cpp" style="display:none">EdgeSmoothing</span><span data-if="com" style="display:none">EdgeSmoothing</span><span data-if="dotnet" style="display:none">edgeSmoothing</span><span data-if="python" style="display:none">edge_smoothing</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Smoothing of edges.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>50</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>20, 50, 100</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>EdgeSmoothing &gt;= 0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="GenParamName" class="parname"><b><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></b> (input_control)  </span><span>attribute.name(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Parameter name(s) for the multi-scanline algorithm.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>[]</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'consistency_check'</span><span data-if="c" style="display:none">"consistency_check"</span><span data-if="cpp" style="display:none">"consistency_check"</span><span data-if="com" style="display:none">"consistency_check"</span><span data-if="dotnet" style="display:none">"consistency_check"</span><span data-if="python" style="display:none">"consistency_check"</span>, <span data-if="hdevelop" style="display:inline">'disparity_offset'</span><span data-if="c" style="display:none">"disparity_offset"</span><span data-if="cpp" style="display:none">"disparity_offset"</span><span data-if="com" style="display:none">"disparity_offset"</span><span data-if="dotnet" style="display:none">"disparity_offset"</span><span data-if="python" style="display:none">"disparity_offset"</span>, <span data-if="hdevelop" style="display:inline">'method'</span><span data-if="c" style="display:none">"method"</span><span data-if="cpp" style="display:none">"method"</span><span data-if="com" style="display:none">"method"</span><span data-if="dotnet" style="display:none">"method"</span><span data-if="python" style="display:none">"method"</span>, <span data-if="hdevelop" style="display:inline">'num_levels'</span><span data-if="c" style="display:none">"num_levels"</span><span data-if="cpp" style="display:none">"num_levels"</span><span data-if="com" style="display:none">"num_levels"</span><span data-if="dotnet" style="display:none">"num_levels"</span><span data-if="python" style="display:none">"num_levels"</span>, <span data-if="hdevelop" style="display:inline">'similarity_measure'</span><span data-if="c" style="display:none">"similarity_measure"</span><span data-if="cpp" style="display:none">"similarity_measure"</span><span data-if="com" style="display:none">"similarity_measure"</span><span data-if="dotnet" style="display:none">"similarity_measure"</span><span data-if="python" style="display:none">"similarity_measure"</span>, <span data-if="hdevelop" style="display:inline">'sub_disparity'</span><span data-if="c" style="display:none">"sub_disparity"</span><span data-if="cpp" style="display:none">"sub_disparity"</span><span data-if="com" style="display:none">"sub_disparity"</span><span data-if="dotnet" style="display:none">"sub_disparity"</span><span data-if="python" style="display:none">"sub_disparity"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="GenParamValue" class="parname"><b><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></b> (input_control)  </span><span>attribute.value(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Parameter value(s) for the multi-scanline algorithm.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>[]</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span><span data-if="hdevelop" style="display:inline">'accurate'</span><span data-if="c" style="display:none">"accurate"</span><span data-if="cpp" style="display:none">"accurate"</span><span data-if="com" style="display:none">"accurate"</span><span data-if="dotnet" style="display:none">"accurate"</span><span data-if="python" style="display:none">"accurate"</span>, <span data-if="hdevelop" style="display:inline">'fast'</span><span data-if="c" style="display:none">"fast"</span><span data-if="cpp" style="display:none">"fast"</span><span data-if="com" style="display:none">"fast"</span><span data-if="dotnet" style="display:none">"fast"</span><span data-if="python" style="display:none">"fast"</span>, <span data-if="hdevelop" style="display:inline">'very_fast'</span><span data-if="c" style="display:none">"very_fast"</span><span data-if="cpp" style="display:none">"very_fast"</span><span data-if="com" style="display:none">"very_fast"</span><span data-if="dotnet" style="display:none">"very_fast"</span><span data-if="python" style="display:none">"very_fast"</span>, <span data-if="hdevelop" style="display:inline">'census_dense'</span><span data-if="c" style="display:none">"census_dense"</span><span data-if="cpp" style="display:none">"census_dense"</span><span data-if="com" style="display:none">"census_dense"</span><span data-if="dotnet" style="display:none">"census_dense"</span><span data-if="python" style="display:none">"census_dense"</span>, <span data-if="hdevelop" style="display:inline">'census_sparse'</span><span data-if="c" style="display:none">"census_sparse"</span><span data-if="cpp" style="display:none">"census_sparse"</span><span data-if="com" style="display:none">"census_sparse"</span><span data-if="dotnet" style="display:none">"census_sparse"</span><span data-if="python" style="display:none">"census_sparse"</span>, <span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span>, <span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span>, <span data-if="hdevelop" style="display:inline">'auto'</span><span data-if="c" style="display:none">"auto"</span><span data-if="cpp" style="display:none">"auto"</span><span data-if="com" style="display:none">"auto"</span><span data-if="dotnet" style="display:none">"auto"</span><span data-if="python" style="display:none">"auto"</span></p>
</div>
<h2 id="sec_example_all">例程 (HDevelop)</h2>
<pre class="example">
read_image (BaseballL, 'stereo/epipolar/baseball_l')
read_image (BaseballR, 'stereo/epipolar/baseball_r')
binocular_disparity_ms (BaseballL, BaseballR, Disparity, Score, \
                        -40, -10, 50, 50, [], [])
</pre>
<h2 id="sec_result">结果</h2>
<p>If the parameter values are correct, <code><span data-if="hdevelop" style="display:inline">binocular_disparity_ms</span><span data-if="c" style="display:none">binocular_disparity_ms</span><span data-if="cpp" style="display:none">BinocularDisparityMs</span><span data-if="com" style="display:none">BinocularDisparityMs</span><span data-if="dotnet" style="display:none">BinocularDisparityMs</span><span data-if="python" style="display:none">binocular_disparity_ms</span></code>
返回值 <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
    .  If the input is empty (no input images are
available) the behavior can be set via
<a href="set_system.html"><code><span data-if="hdevelop" style="display:inline">set_system('no_object_result',&lt;Result&gt;)</span><span data-if="c" style="display:none">set_system("no_object_result",&lt;Result&gt;)</span><span data-if="cpp" style="display:none">SetSystem("no_object_result",&lt;Result&gt;)</span><span data-if="com" style="display:none">SetSystem("no_object_result",&lt;Result&gt;)</span><span data-if="dotnet" style="display:none">SetSystem("no_object_result",&lt;Result&gt;)</span><span data-if="python" style="display:none">set_system("no_object_result",&lt;Result&gt;)</span></code></a>.  If necessary, an
exception is raised.</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="map_image.html"><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="threshold.html"><span data-if="hdevelop" style="display:inline">threshold</span><span data-if="c" style="display:none">threshold</span><span data-if="cpp" style="display:none">Threshold</span><span data-if="com" style="display:none">Threshold</span><span data-if="dotnet" style="display:none">Threshold</span><span data-if="python" style="display:none">threshold</span></a></code>, 
<code><a href="disparity_to_distance.html"><span data-if="hdevelop" style="display:inline">disparity_to_distance</span><span data-if="c" style="display:none">disparity_to_distance</span><span data-if="cpp" style="display:none">DisparityToDistance</span><span data-if="com" style="display:none">DisparityToDistance</span><span data-if="dotnet" style="display:none">DisparityToDistance</span><span data-if="python" style="display:none">disparity_to_distance</span></a></code>, 
<code><a href="disparity_image_to_xyz.html"><span data-if="hdevelop" style="display:inline">disparity_image_to_xyz</span><span data-if="c" style="display:none">disparity_image_to_xyz</span><span data-if="cpp" style="display:none">DisparityImageToXyz</span><span data-if="com" style="display:none">DisparityImageToXyz</span><span data-if="dotnet" style="display:none">DisparityImageToXyz</span><span data-if="python" style="display:none">disparity_image_to_xyz</span></a></code>
</p>
<h2 id="sec_alternatives">可替代算子</h2>
<p>
<code><a href="binocular_disparity.html"><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></a></code>, 
<code><a href="binocular_disparity_mg.html"><span data-if="hdevelop" style="display:inline">binocular_disparity_mg</span><span data-if="c" style="display:none">binocular_disparity_mg</span><span data-if="cpp" style="display:none">BinocularDisparityMg</span><span data-if="com" style="display:none">BinocularDisparityMg</span><span data-if="dotnet" style="display:none">BinocularDisparityMg</span><span data-if="python" style="display:none">binocular_disparity_mg</span></a></code>, 
<code><a href="binocular_distance.html"><span data-if="hdevelop" style="display:inline">binocular_distance</span><span data-if="c" style="display:none">binocular_distance</span><span data-if="cpp" style="display:none">BinocularDistance</span><span data-if="com" style="display:none">BinocularDistance</span><span data-if="dotnet" style="display:none">BinocularDistance</span><span data-if="python" style="display:none">binocular_distance</span></a></code>, 
<code><a href="binocular_distance_mg.html"><span data-if="hdevelop" style="display:inline">binocular_distance_mg</span><span data-if="c" style="display:none">binocular_distance_mg</span><span data-if="cpp" style="display:none">BinocularDistanceMg</span><span data-if="com" style="display:none">BinocularDistanceMg</span><span data-if="dotnet" style="display:none">BinocularDistanceMg</span><span data-if="python" style="display:none">binocular_distance_mg</span></a></code>, 
<code><a href="binocular_distance_ms.html"><span data-if="hdevelop" style="display:inline">binocular_distance_ms</span><span data-if="c" style="display:none">binocular_distance_ms</span><span data-if="cpp" style="display:none">BinocularDistanceMs</span><span data-if="com" style="display:none">BinocularDistanceMs</span><span data-if="dotnet" style="display:none">BinocularDistanceMs</span><span data-if="python" style="display:none">binocular_distance_ms</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="map_image.html"><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></a></code>, 
<code><a href="gen_binocular_rectification_map.html"><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></a></code>, 
<code><a href="binocular_calibration.html"><span data-if="hdevelop" style="display:inline">binocular_calibration</span><span data-if="c" style="display:none">binocular_calibration</span><span data-if="cpp" style="display:none">BinocularCalibration</span><span data-if="com" style="display:none">BinocularCalibration</span><span data-if="dotnet" style="display:none">BinocularCalibration</span><span data-if="python" style="display:none">binocular_calibration</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
3D Metrology</p>
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